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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-types">Protected 类型</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::ModelOutlierRemoval&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1_model_outlier_removal.html" title="ModelOutlierRemoval filters points in a cloud based on the distance between model and point.">ModelOutlierRemoval</a></b> filters points in a cloud based on the distance between model and point.  
 <a href="classpcl_1_1_model_outlier_removal.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="model__outlier__removal_8h_source.html">model_outlier_removal.h</a>&gt;</code></p>
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类 pcl::ModelOutlierRemoval&lt; PointT &gt; 继承关系图:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a21409f23e7ddd4cc660d2ee4700cd15a"><td class="memItemLeft" align="right" valign="top"><a id="a21409f23e7ddd4cc660d2ee4700cd15a"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
<tr class="separator:a21409f23e7ddd4cc660d2ee4700cd15a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e6de3bbf5826fd268863f7c7805c8dc"><td class="memItemLeft" align="right" valign="top"><a id="a7e6de3bbf5826fd268863f7c7805c8dc"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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<tr class="memitem:afa28de19aa0b9e1586e67f3cf7d51c52 inherit pub_types_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="afa28de19aa0b9e1586e67f3cf7d51c52"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a719a1ef5a8fc3b7f4a651a8bae51571b inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a719a1ef5a8fc3b7f4a651a8bae51571b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a92504900c55217f8ec0e337c7e0ed008"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a92504900c55217f8ec0e337c7e0ed008">ModelOutlierRemoval</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:a92504900c55217f8ec0e337c7e0ed008"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classpcl_1_1_model_outlier_removal.html#a92504900c55217f8ec0e337c7e0ed008">更多...</a><br /></td></tr>
<tr class="separator:a92504900c55217f8ec0e337c7e0ed008"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af1b99bece766701637636faf3e7611f5"><td class="memItemLeft" align="right" valign="top"><a id="af1b99bece766701637636faf3e7611f5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#af1b99bece766701637636faf3e7611f5">setModelCoefficients</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> model_coefficients)</td></tr>
<tr class="memdesc:af1b99bece766701637636faf3e7611f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the models coefficients <br /></td></tr>
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<tr class="memitem:a986c3092c64fb8da007ee358381b1672"><td class="memItemLeft" align="right" valign="top"><a id="a986c3092c64fb8da007ee358381b1672"></a>
<a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a986c3092c64fb8da007ee358381b1672">getModelCoefficients</a> () const</td></tr>
<tr class="memdesc:a986c3092c64fb8da007ee358381b1672"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the models coefficients <br /></td></tr>
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<tr class="memitem:a30451f61b53235dddea4bb2d1a055e21"><td class="memItemLeft" align="right" valign="top"><a id="a30451f61b53235dddea4bb2d1a055e21"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a30451f61b53235dddea4bb2d1a055e21">setModelType</a> (pcl::SacModel model)</td></tr>
<tr class="memdesc:a30451f61b53235dddea4bb2d1a055e21"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the type of SAC model used. <br /></td></tr>
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<tr class="memitem:ac8b43602729da9bafc11c83005fd3854"><td class="memItemLeft" align="right" valign="top"><a id="ac8b43602729da9bafc11c83005fd3854"></a>
pcl::SacModel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#ac8b43602729da9bafc11c83005fd3854">getModelType</a> () const</td></tr>
<tr class="memdesc:ac8b43602729da9bafc11c83005fd3854"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the type of SAC model used. <br /></td></tr>
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<tr class="memitem:afb3d82cbedb9891c895b00dbda3612bd"><td class="memItemLeft" align="right" valign="top"><a id="afb3d82cbedb9891c895b00dbda3612bd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#afb3d82cbedb9891c895b00dbda3612bd">setThreshold</a> (float thresh)</td></tr>
<tr class="memdesc:afb3d82cbedb9891c895b00dbda3612bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the thresholdfunction <br /></td></tr>
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<tr class="memitem:a528af2f982ad598acf12631ac81b5f24"><td class="memItemLeft" align="right" valign="top"><a id="a528af2f982ad598acf12631ac81b5f24"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a528af2f982ad598acf12631ac81b5f24">getThreshold</a> () const</td></tr>
<tr class="memdesc:a528af2f982ad598acf12631ac81b5f24"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the thresholdfunction <br /></td></tr>
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<tr class="memitem:a1176fc3fd825c7f34e6e14a91e53d580"><td class="memItemLeft" align="right" valign="top"><a id="a1176fc3fd825c7f34e6e14a91e53d580"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a1176fc3fd825c7f34e6e14a91e53d580">setInputNormals</a> (const PointCloudNConstPtr normals_ptr)</td></tr>
<tr class="memdesc:a1176fc3fd825c7f34e6e14a91e53d580"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the normals cloud <br /></td></tr>
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<tr class="memitem:a9ca16c7cb037a10fd189778c1aaad99b"><td class="memItemLeft" align="right" valign="top"><a id="a9ca16c7cb037a10fd189778c1aaad99b"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a9ca16c7cb037a10fd189778c1aaad99b">getInputNormals</a> () const</td></tr>
<tr class="memdesc:a9ca16c7cb037a10fd189778c1aaad99b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the normals cloud <br /></td></tr>
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<tr class="memitem:aa4f5129e7f39f6f74dccbad8b00e39a6"><td class="memItemLeft" align="right" valign="top"><a id="aa4f5129e7f39f6f74dccbad8b00e39a6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#aa4f5129e7f39f6f74dccbad8b00e39a6">setNormalDistanceWeight</a> (const double weight)</td></tr>
<tr class="memdesc:aa4f5129e7f39f6f74dccbad8b00e39a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the normals distance weight <br /></td></tr>
<tr class="separator:aa4f5129e7f39f6f74dccbad8b00e39a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84037ffa5670bd5f5a36dc024c87ceec"><td class="memItemLeft" align="right" valign="top"><a id="a84037ffa5670bd5f5a36dc024c87ceec"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a84037ffa5670bd5f5a36dc024c87ceec">getNormalDistanceWeight</a> () const</td></tr>
<tr class="memdesc:a84037ffa5670bd5f5a36dc024c87ceec"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the normal distance weight <br /></td></tr>
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<tr class="memitem:a283c4efd295c1b2453536db8a4c6c2ce"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">setThresholdFunction</a> (boost::function&lt; bool(double)&gt; thresh)</td></tr>
<tr class="memdesc:a283c4efd295c1b2453536db8a4c6c2ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Register a different threshold function  <a href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">更多...</a><br /></td></tr>
<tr class="separator:a283c4efd295c1b2453536db8a4c6c2ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a982e72d52ac3e962640bf74604eb7b94"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a982e72d52ac3e962640bf74604eb7b94"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a982e72d52ac3e962640bf74604eb7b94">setThresholdFunction</a> (bool(T::*thresh_function)(double), T &amp;instance)</td></tr>
<tr class="memdesc:a982e72d52ac3e962640bf74604eb7b94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Register a different threshold function  <a href="classpcl_1_1_model_outlier_removal.html#a982e72d52ac3e962640bf74604eb7b94">更多...</a><br /></td></tr>
<tr class="separator:a982e72d52ac3e962640bf74604eb7b94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_filter_indices"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter_indices')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter_indices.html">pcl::FilterIndices&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a72c8696f1bc2e4a6e92172371a45d592 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">FilterIndices</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:a72c8696f1bc2e4a6e92172371a45d592 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">更多...</a><br /></td></tr>
<tr class="separator:a72c8696f1bc2e4a6e92172371a45d592 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2713c94212077eed36018718a6a11f2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="ad2713c94212077eed36018718a6a11f2"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#ad2713c94212077eed36018718a6a11f2">~FilterIndices</a> ()</td></tr>
<tr class="memdesc:ad2713c94212077eed36018718a6a11f2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty virtual destructor. <br /></td></tr>
<tr class="separator:ad2713c94212077eed36018718a6a11f2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a007e834bf929cb9da0aabb17036bff31 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a007e834bf929cb9da0aabb17036bff31"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>filter</b> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="separator:a007e834bf929cb9da0aabb17036bff31 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abbbfa3686df4bdb6cd333a182180970d inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#abbbfa3686df4bdb6cd333a182180970d">filter</a> (std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:abbbfa3686df4bdb6cd333a182180970d inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered point cloud indices.  <a href="classpcl_1_1_filter_indices.html#abbbfa3686df4bdb6cd333a182180970d">更多...</a><br /></td></tr>
<tr class="separator:abbbfa3686df4bdb6cd333a182180970d inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8da0b86892188e59b0deb8d420a682bb inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a8da0b86892188e59b0deb8d420a682bb">setNegative</a> (bool negative)</td></tr>
<tr class="memdesc:a8da0b86892188e59b0deb8d420a682bb inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether the regular conditions for points filtering should apply, or the inverted conditions.  <a href="classpcl_1_1_filter_indices.html#a8da0b86892188e59b0deb8d420a682bb">更多...</a><br /></td></tr>
<tr class="separator:a8da0b86892188e59b0deb8d420a682bb inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae596b8085f72489035f63aa26904f2b3 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#ae596b8085f72489035f63aa26904f2b3">getNegative</a> ()</td></tr>
<tr class="memdesc:ae596b8085f72489035f63aa26904f2b3 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the regular conditions for points filtering should apply, or the inverted conditions.  <a href="classpcl_1_1_filter_indices.html#ae596b8085f72489035f63aa26904f2b3">更多...</a><br /></td></tr>
<tr class="separator:ae596b8085f72489035f63aa26904f2b3 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a21eb00357056c0cc432cd03afa84d08c inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">setKeepOrganized</a> (bool keep_organized)</td></tr>
<tr class="memdesc:a21eb00357056c0cc432cd03afa84d08c inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether the filtered points should be kept and set to the value given through <em>setUserFilterValue</em> (default: NaN), or removed from the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, thus potentially breaking its organized structure.  <a href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">更多...</a><br /></td></tr>
<tr class="separator:a21eb00357056c0cc432cd03afa84d08c inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9448e925e369d96824a1b333903ddfe2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a9448e925e369d96824a1b333903ddfe2">getKeepOrganized</a> ()</td></tr>
<tr class="memdesc:a9448e925e369d96824a1b333903ddfe2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the filtered points should be kept and set to the value given through <em>setUserFilterValue</em> (default = NaN), or removed from the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, thus potentially breaking its organized structure.  <a href="classpcl_1_1_filter_indices.html#a9448e925e369d96824a1b333903ddfe2">更多...</a><br /></td></tr>
<tr class="separator:a9448e925e369d96824a1b333903ddfe2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9456a457b18c28b8dd6b07e970c16eba inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a9456a457b18c28b8dd6b07e970c16eba">setUserFilterValue</a> (float value)</td></tr>
<tr class="memdesc:a9456a457b18c28b8dd6b07e970c16eba inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a value that the filtered points should be set to instead of removing them. Used in conjunction with <em>setKeepOrganized</em> ().  <a href="classpcl_1_1_filter_indices.html#a9456a457b18c28b8dd6b07e970c16eba">更多...</a><br /></td></tr>
<tr class="separator:a9456a457b18c28b8dd6b07e970c16eba inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">Filter</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">更多...</a><br /></td></tr>
<tr class="separator:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a11163e4d01519df900e6144f705f6980"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a11163e4d01519df900e6144f705f6980">~Filter</a> ()</td></tr>
<tr class="memdesc:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae451ce8a0981e8589812d4f3b135a335"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae451ce8a0981e8589812d4f3b135a335">getRemovedIndices</a> ()</td></tr>
<tr class="memdesc:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed <br /></td></tr>
<tr class="separator:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">getRemovedIndices</a> (<a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;pi)</td></tr>
<tr class="memdesc:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed  <a href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">更多...</a><br /></td></tr>
<tr class="separator:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered dataset in output.  <a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">更多...</a><br /></td></tr>
<tr class="separator:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:a8e29a20f2084e2fd42752c034cd3d196"><td class="memItemLeft" align="right" valign="top"><a id="a8e29a20f2084e2fd42752c034cd3d196"></a>
typedef <a class="el" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a8e29a20f2084e2fd42752c034cd3d196"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad1ee080a61feb647d840d27eb5cdd15a"><td class="memItemLeft" align="right" valign="top"><a id="ad1ee080a61feb647d840d27eb5cdd15a"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:ad1ee080a61feb647d840d27eb5cdd15a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1ce3cb65ffcb19174c4b88c858d25752"><td class="memItemLeft" align="right" valign="top"><a id="a1ce3cb65ffcb19174c4b88c858d25752"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a1ce3cb65ffcb19174c4b88c858d25752"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72d90dda7d1108f6e009460d6c994e44"><td class="memItemLeft" align="right" valign="top"><a id="a72d90dda7d1108f6e009460d6c994e44"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>SampleConsensusModelPtr</b></td></tr>
<tr class="separator:a72d90dda7d1108f6e009460d6c994e44"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a3f4b944996f04740e56ac378f8f06183"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a3f4b944996f04740e56ac378f8f06183">applyFilter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a3f4b944996f04740e56ac378f8f06183"><td class="mdescLeft">&#160;</td><td class="mdescRight">Filtered results are stored in a separate point cloud.  <a href="classpcl_1_1_model_outlier_removal.html#a3f4b944996f04740e56ac378f8f06183">更多...</a><br /></td></tr>
<tr class="separator:a3f4b944996f04740e56ac378f8f06183"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9ef428e59a14d0136cf44ac2c6aea90"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#ae9ef428e59a14d0136cf44ac2c6aea90">applyFilter</a> (std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:ae9ef428e59a14d0136cf44ac2c6aea90"><td class="mdescLeft">&#160;</td><td class="mdescRight">Filtered results are indexed by an indices array.  <a href="classpcl_1_1_model_outlier_removal.html#ae9ef428e59a14d0136cf44ac2c6aea90">更多...</a><br /></td></tr>
<tr class="separator:ae9ef428e59a14d0136cf44ac2c6aea90"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3cf4bbd4c9245d3f5935ce5a2055571c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a3cf4bbd4c9245d3f5935ce5a2055571c">applyFilterIndices</a> (std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a3cf4bbd4c9245d3f5935ce5a2055571c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Filtered results are indexed by an indices array.  <a href="classpcl_1_1_model_outlier_removal.html#a3cf4bbd4c9245d3f5935ce5a2055571c">更多...</a><br /></td></tr>
<tr class="separator:a3cf4bbd4c9245d3f5935ce5a2055571c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc23b464713be8be1393e1bdb13a90f6"><td class="memItemLeft" align="right" valign="top"><a id="adc23b464713be8be1393e1bdb13a90f6"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>checkSingleThreshold</b> (double value)</td></tr>
<tr class="separator:adc23b464713be8be1393e1bdb13a90f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a71040236d2c11da75b715d6d6bf5ba9d"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> () const</td></tr>
<tr class="memdesc:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:ac667db1b004a031930ff08695a14fb87"><td class="memItemLeft" align="right" valign="top"><a id="ac667db1b004a031930ff08695a14fb87"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>normals_distance_weight_</b></td></tr>
<tr class="separator:ac667db1b004a031930ff08695a14fb87"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad634fa7eb3cc9f417e1f72491f9f6fba"><td class="memItemLeft" align="right" valign="top"><a id="ad634fa7eb3cc9f417e1f72491f9f6fba"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>cloud_normals_</b></td></tr>
<tr class="separator:ad634fa7eb3cc9f417e1f72491f9f6fba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa93ec51c79214cfe3d2c7eefa2f74102"><td class="memItemLeft" align="right" valign="top"><a id="aa93ec51c79214cfe3d2c7eefa2f74102"></a>
SampleConsensusModelPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#aa93ec51c79214cfe3d2c7eefa2f74102">model_</a></td></tr>
<tr class="memdesc:aa93ec51c79214cfe3d2c7eefa2f74102"><td class="mdescLeft">&#160;</td><td class="mdescRight">The model used to calculate distances <br /></td></tr>
<tr class="separator:aa93ec51c79214cfe3d2c7eefa2f74102"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a463fce3cf323fb8410c82fd808390da3"><td class="memItemLeft" align="right" valign="top"><a id="a463fce3cf323fb8410c82fd808390da3"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">thresh_</a></td></tr>
<tr class="memdesc:a463fce3cf323fb8410c82fd808390da3"><td class="mdescLeft">&#160;</td><td class="mdescRight">The threshold used to seperate outliers (removed_indices) from inliers (indices) <br /></td></tr>
<tr class="separator:a463fce3cf323fb8410c82fd808390da3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0efd26dbbbb34eb4eb07fb5fd75f7d50"><td class="memItemLeft" align="right" valign="top"><a id="a0efd26dbbbb34eb4eb07fb5fd75f7d50"></a>
Eigen::VectorXf&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">model_coefficients_</a></td></tr>
<tr class="memdesc:a0efd26dbbbb34eb4eb07fb5fd75f7d50"><td class="mdescLeft">&#160;</td><td class="mdescRight">The model coefficients <br /></td></tr>
<tr class="separator:a0efd26dbbbb34eb4eb07fb5fd75f7d50"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a60aecb5280930a500556ff623e230d36"><td class="memItemLeft" align="right" valign="top"><a id="a60aecb5280930a500556ff623e230d36"></a>
pcl::SacModel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_model_outlier_removal.html#a60aecb5280930a500556ff623e230d36">model_type_</a></td></tr>
<tr class="memdesc:a60aecb5280930a500556ff623e230d36"><td class="mdescLeft">&#160;</td><td class="mdescRight">The type of model to use (user given parameter). <br /></td></tr>
<tr class="separator:a60aecb5280930a500556ff623e230d36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af88e17c19837f8af35706c3235a55cfc"><td class="memItemLeft" align="right" valign="top"><a id="af88e17c19837f8af35706c3235a55cfc"></a>
boost::function&lt; bool(double)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>threshold_function_</b></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_filter_indices"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter_indices')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter_indices.html">pcl::FilterIndices&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a97854d723ea58d2aa7706db0d086a90f inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a97854d723ea58d2aa7706db0d086a90f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a97854d723ea58d2aa7706db0d086a90f">negative_</a></td></tr>
<tr class="memdesc:a97854d723ea58d2aa7706db0d086a90f inherit pro_attribs_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">False = normal filter behavior (default), true = inverted behavior. <br /></td></tr>
<tr class="separator:a97854d723ea58d2aa7706db0d086a90f inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45e39a4237dfff1735294cacc243a918 inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a45e39a4237dfff1735294cacc243a918"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a45e39a4237dfff1735294cacc243a918">keep_organized_</a></td></tr>
<tr class="memdesc:a45e39a4237dfff1735294cacc243a918 inherit pro_attribs_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">False = remove points (default), true = redefine points, keep structure. <br /></td></tr>
<tr class="separator:a45e39a4237dfff1735294cacc243a918 inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a009090d4cb34cb01d5906b3d7e12c5db inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a009090d4cb34cb01d5906b3d7e12c5db"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a009090d4cb34cb01d5906b3d7e12c5db">user_filter_value_</a></td></tr>
<tr class="memdesc:a009090d4cb34cb01d5906b3d7e12c5db inherit pro_attribs_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">The user given value that the filtered point dimensions should be set to (default = NaN). <br /></td></tr>
<tr class="separator:a009090d4cb34cb01d5906b3d7e12c5db inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae83ccb695ed263cfc64c224210a31936"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a></td></tr>
<tr class="memdesc:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the points that are removed <br /></td></tr>
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<tr class="memitem:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ad700c7ab56dc82ad8811b87e9f793751"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a></td></tr>
<tr class="memdesc:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">The filter name. <br /></td></tr>
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<tr class="memitem:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a77b899631add791703f5d615f085bede"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a></td></tr>
<tr class="memdesc:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the indices of the removed points. <br /></td></tr>
<tr class="separator:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
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<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:add4e55ff807039b41cef1c44b54a4a52"><td class="memItemLeft" align="right" valign="top"><a id="add4e55ff807039b41cef1c44b54a4a52"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>initSACModel</b> (pcl::SacModel model_type)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::ModelOutlierRemoval&lt; PointT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1_model_outlier_removal.html" title="ModelOutlierRemoval filters points in a cloud based on the distance between model and point.">ModelOutlierRemoval</a></b> filters points in a cloud based on the distance between model and point. </p>
<p>Iterates through the entire input once, automatically filtering non-finite points and the points outside the model specified by setSampleConsensusModelPointer() and the threshold specified by setThreholdFunctionPointer(). <br  />
<br  />
 Usage example: </p><div class="fragment"><div class="line"><a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> model_coeff;</div>
<div class="line">model_coeff.values.resize(4);</div>
<div class="line">model_coeff.values[0] = 0; model_coeff.values[1] = 0; model_coeff.values[2] = 1.5; model_coeff.values[3] = 0.5;</div>
<div class="line"><a class="code" href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval&lt;pcl::PointXYZ&gt;</a> filter;</div>
<div class="line">filter.setModelCoefficients (model_coeff);</div>
<div class="line">filter.setThreshold (0.1);</div>
<div class="line">filter.setModelType (pcl::SACMODEL_PLANE);</div>
<div class="line">filter.setInputCloud (*cloud_in);</div>
<div class="line">filter.setFilterLimitsNegative (<span class="keyword">false</span>);</div>
<div class="line">filter.filter (*cloud_out);</div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval</a></div><div class="ttdoc">ModelOutlierRemoval filters points in a cloud based on the distance between model and point.</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:70</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
</div><!-- fragment --> </div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a92504900c55217f8ec0e337c7e0ed008"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a92504900c55217f8ec0e337c7e0ed008">&#9670;&nbsp;</a></span>ModelOutlierRemoval()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_model_outlier_removal.html">ModelOutlierRemoval</a> </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>extract_removed_indices</em> = <code>false</code></td><td>)</td>
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<p>Constructor. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">extract_removed_indices</td><td>Set to true if you want to be able to extract the indices of points being removed (default = false). </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                                                                 :</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">FilterIndices&lt;PointT&gt;::FilterIndices</a> (extract_removed_indices)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">thresh_</a> = 0;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        normals_distance_weight_ = 0;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;ModelOutlierRemoval&quot;</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">setThresholdFunction</a> (&amp;<a class="code" href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval&lt;PointT&gt;::checkSingleThreshold</a>, *<span class="keyword">this</span>);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a72c8696f1bc2e4a6e92172371a45d592"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">pcl::FilterIndices::FilterIndices</a></div><div class="ttdeci">FilterIndices(bool extract_removed_indices=false)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> filter_indices.h:88</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a283c4efd295c1b2453536db8a4c6c2ce"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">pcl::ModelOutlierRemoval::setThresholdFunction</a></div><div class="ttdeci">void setThresholdFunction(boost::function&lt; bool(double)&gt; thresh)</div><div class="ttdoc">Register a different threshold function</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a463fce3cf323fb8410c82fd808390da3"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">pcl::ModelOutlierRemoval::thresh_</a></div><div class="ttdeci">float thresh_</div><div class="ttdoc">The threshold used to seperate outliers (removed_indices) from inliers (indices)</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:232</div></div>
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</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a3f4b944996f04740e56ac378f8f06183"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3f4b944996f04740e56ac378f8f06183">&#9670;&nbsp;</a></span>applyFilter() <span class="overload">[1/2]</span></h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Filtered results are stored in a separate point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>The resultant point cloud. </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_filter_indices.html#afd98aa5b5e30e42d81ede249aada8fc9">pcl::FilterIndices&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;{</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_filter_indices.html#a45e39a4237dfff1735294cacc243a918">keep_organized_</a>)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordtype">bool</span> temp = <a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <a class="code" href="classpcl_1_1_model_outlier_removal.html#a3cf4bbd4c9245d3f5935ce5a2055571c">applyFilterIndices</a> (indices);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a> = temp;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    output = *<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> rii = 0; rii &lt; static_cast&lt;int&gt; (<a class="code" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a>-&gt;size ()); ++rii)  <span class="comment">// rii = removed indices iterator</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[ (*<a class="code" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a>)[rii]].x = output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[ (*removed_indices_)[rii]].y = output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[ (*removed_indices_)[rii]].z = <a class="code" href="classpcl_1_1_filter_indices.html#a009090d4cb34cb01d5906b3d7e12c5db">user_filter_value_</a>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (<a class="code" href="classpcl_1_1_filter_indices.html#a009090d4cb34cb01d5906b3d7e12c5db">user_filter_value_</a>))</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <a class="code" href="classpcl_1_1_model_outlier_removal.html#a3cf4bbd4c9245d3f5935ce5a2055571c">applyFilterIndices</a> (indices);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">copyPointCloud</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, indices, output);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a77b899631add791703f5d615f085bede"><div class="ttname"><a href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">pcl::Filter::extract_removed_indices_</a></div><div class="ttdeci">bool extract_removed_indices_</div><div class="ttdoc">Set to true if we want to return the indices of the removed points.</div><div class="ttdef"><b>Definition:</b> filter.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ae83ccb695ed263cfc64c224210a31936"><div class="ttname"><a href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">pcl::Filter::removed_indices_</a></div><div class="ttdeci">IndicesPtr removed_indices_</div><div class="ttdoc">Indices of the points that are removed</div><div class="ttdef"><b>Definition:</b> filter.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a009090d4cb34cb01d5906b3d7e12c5db"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a009090d4cb34cb01d5906b3d7e12c5db">pcl::FilterIndices::user_filter_value_</a></div><div class="ttdeci">float user_filter_value_</div><div class="ttdoc">The user given value that the filtered point dimensions should be set to (default = NaN).</div><div class="ttdef"><b>Definition:</b> filter_indices.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a45e39a4237dfff1735294cacc243a918"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a45e39a4237dfff1735294cacc243a918">pcl::FilterIndices::keep_organized_</a></div><div class="ttdeci">bool keep_organized_</div><div class="ttdoc">False = remove points (default), true = redefine points, keep structure.</div><div class="ttdef"><b>Definition:</b> filter_indices.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a3cf4bbd4c9245d3f5935ce5a2055571c"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a3cf4bbd4c9245d3f5935ce5a2055571c">pcl::ModelOutlierRemoval::applyFilterIndices</a></div><div class="ttdeci">void applyFilterIndices(std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Filtered results are indexed by an indices array.</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.hpp:171</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae9ef428e59a14d0136cf44ac2c6aea90">&#9670;&nbsp;</a></span>applyFilter() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Filtered results are indexed by an indices array. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">indices</td><td>The resultant indices. </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_filter_indices.html#a96adbc8e3d7a076cc00a938260160466">pcl::FilterIndices&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a3cf4bbd4c9245d3f5935ce5a2055571c">applyFilterIndices</a> (indices);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3cf4bbd4c9245d3f5935ce5a2055571c">&#9670;&nbsp;</a></span>applyFilterIndices()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilterIndices </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Filtered results are indexed by an indices array. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">indices</td><td>The resultant indices. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;{</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="comment">//The arrays to be used</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  indices.resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size ());</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <a class="code" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a>-&gt;resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size ());</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordtype">int</span> oii = 0, rii = 0;  <span class="comment">// oii = output indices iterator, rii = removed indices iterator</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="comment">//is the filtersetup correct?</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordtype">bool</span> valid_setup = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  valid_setup &amp;= initSACModel (<a class="code" href="classpcl_1_1_model_outlier_removal.html#a60aecb5280930a500556ff623e230d36">model_type_</a>);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">typedef</span> SampleConsensusModelFromNormals&lt;PointT, pcl::Normal&gt; SACModelFromNormals;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="comment">// Returns NULL if cast isn&#39;t possible</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  SACModelFromNormals *model_from_normals = <span class="keyword">dynamic_cast&lt;</span>SACModelFromNormals *<span class="keyword">&gt;</span> (&amp; (*model_));</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordflow">if</span> (model_from_normals)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">if</span> (!cloud_normals_)</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      valid_setup = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::ModelOutlierRemoval::applyFilterIndices]: no normals cloud set.\n&quot;</span>);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      model_from_normals-&gt;setNormalDistanceWeight (normals_distance_weight_);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      model_from_normals-&gt;setInputNormals (cloud_normals_);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="comment">//if the filter setup is invalid filter for nan and return;</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">if</span> (!valid_setup)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> iii = 0; iii &lt; static_cast&lt;int&gt; (<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size ()); ++iii)  <span class="comment">// iii = input indices iterator</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="comment">// Non-finite entries are always passed to removed indices</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keywordflow">if</span> (!isFinite (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[ (*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[iii]]))</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a>)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          (*removed_indices_)[rii++] = (*indices_)[iii];</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      indices[oii++] = (*indices_)[iii];</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="comment">// check distance of pointcloud to model</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  std::vector&lt;double&gt; distances;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="comment">//TODO: get signed distances !</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <a class="code" href="classpcl_1_1_model_outlier_removal.html#aa93ec51c79214cfe3d2c7eefa2f74102">model_</a>-&gt;setIndices(<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>); <span class="comment">// added to reduce computation and arrange distances with indices</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <a class="code" href="classpcl_1_1_model_outlier_removal.html#aa93ec51c79214cfe3d2c7eefa2f74102">model_</a>-&gt;getDistancesToModel (<a class="code" href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">model_coefficients_</a>, distances);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keywordtype">bool</span> thresh_result;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="comment">// Filter for non-finite entries and the specified field limits</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> iii = 0; iii &lt; static_cast&lt;int&gt; (<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size ()); ++iii)  <span class="comment">// iii = input indices iterator</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="comment">// Non-finite entries are always passed to removed indices</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordflow">if</span> (!isFinite (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[ (*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[iii]]))</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a>)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        (*removed_indices_)[rii++] = (*indices_)[iii];</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="comment">// use threshold function to separate outliers from inliers:</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    thresh_result = threshold_function_ (distances[iii]);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="comment">// in normal mode: define outliers as false thresh_result</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_filter_indices.html#a97854d723ea58d2aa7706db0d086a90f">negative_</a> &amp;&amp; !thresh_result)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a>)</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        (*removed_indices_)[rii++] = (*indices_)[iii];</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="comment">// in negative_ mode: define outliers as true thresh_result</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_filter_indices.html#a97854d723ea58d2aa7706db0d086a90f">negative_</a> &amp;&amp; thresh_result)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a>)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        (*removed_indices_)[rii++] = (*indices_)[iii];</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="comment">// Otherwise it was a normal point for output (inlier)</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    indices[oii++] = (*indices_)[iii];</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="comment">// Resize the output arrays</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  indices.resize (oii);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <a class="code" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a>-&gt;resize (rii);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a97854d723ea58d2aa7706db0d086a90f"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a97854d723ea58d2aa7706db0d086a90f">pcl::FilterIndices::negative_</a></div><div class="ttdeci">bool negative_</div><div class="ttdoc">False = normal filter behavior (default), true = inverted behavior.</div><div class="ttdef"><b>Definition:</b> filter_indices.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a0efd26dbbbb34eb4eb07fb5fd75f7d50"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">pcl::ModelOutlierRemoval::model_coefficients_</a></div><div class="ttdeci">Eigen::VectorXf model_coefficients_</div><div class="ttdoc">The model coefficients</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a60aecb5280930a500556ff623e230d36"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a60aecb5280930a500556ff623e230d36">pcl::ModelOutlierRemoval::model_type_</a></div><div class="ttdeci">pcl::SacModel model_type_</div><div class="ttdoc">The type of model to use (user given parameter).</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_aa93ec51c79214cfe3d2c7eefa2f74102"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#aa93ec51c79214cfe3d2c7eefa2f74102">pcl::ModelOutlierRemoval::model_</a></div><div class="ttdeci">SampleConsensusModelPtr model_</div><div class="ttdoc">The model used to calculate distances</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a982e72d52ac3e962640bf74604eb7b94">&#9670;&nbsp;</a></span>setThresholdFunction() <span class="overload">[1/2]</span></h2>

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template&lt;typename PointT &gt; </div>
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template&lt;typename T &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setThresholdFunction </td>
          <td>(</td>
          <td class="paramtype">bool(T::*)(double)&#160;</td>
          <td class="paramname"><em>thresh_function</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T &amp;&#160;</td>
          <td class="paramname"><em>instance</em>&#160;</td>
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          <td>)</td>
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<p>Register a different threshold function </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">thresh_function</td><td>pointer to a threshold function </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">instance</td><td></td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">setThresholdFunction</a> (boost::bind (thresh_function, boost::ref (instance), _1));</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a283c4efd295c1b2453536db8a4c6c2ce">&#9670;&nbsp;</a></span>setThresholdFunction() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setThresholdFunction </td>
          <td>(</td>
          <td class="paramtype">boost::function&lt; bool(double)&gt;&#160;</td>
          <td class="paramname"><em>thresh</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Register a different threshold function </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">thresh</td><td>pointer to a threshold function </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        threshold_function_ = thresh;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>filters/include/pcl/filters/<a class="el" href="model__outlier__removal_8h_source.html">model_outlier_removal.h</a></li>
<li>filters/include/pcl/filters/impl/<a class="el" href="model__outlier__removal_8hpp_source.html">model_outlier_removal.hpp</a></li>
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